text: #!/usr/bin/env python
  # Author: Jon Trulson <jtrulson@ics.com>
  # Copyright (c) 2015 Intel Corporation.
  #
  # Permission is hereby granted, free of charge, to any person obtaining
  # a copy of this software and associated documentation files (the
  # "Software"), to deal in the Software without restriction, including
  # without limitation the rights to use, copy, modify, merge, publish,
  # distribute, sublicense, and/or sell copies of the Software, and to
  # permit persons to whom the Software is furnished to do so, subject to
  # the following conditions:
  #
  # The above copyright notice and this permission notice shall be
  # included in all copies or substantial portions of the Software.
  #
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
  # EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
  # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
  # NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
  # LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
  # OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
  # WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  
  from __future__ import print_function
  import time, sys, signal, atexit
  from upm import pyupm_mpu9150 as sensorObj
  
  def main():
      # Instantiate an MPU9250 on I2C bus 0
      sensor = sensorObj.MPU9250()
  
      ## Exit handlers ##
      # This function stops python from printing a stacktrace when you hit control-C
      def SIGINTHandler(signum, frame):
          raise SystemExit
  
      # This function lets you run code on exit
      def exitHandler():
          print("Exiting")
          sys.exit(0)
  
      # Register exit handlers
      atexit.register(exitHandler)
      signal.signal(signal.SIGINT, SIGINTHandler)
  
      sensor.init()
  
      x = sensorObj.new_floatp()
      y = sensorObj.new_floatp()
      z = sensorObj.new_floatp()
  
      while (1):
          sensor.update()
          sensor.getAccelerometer(x, y, z)
          print("Accelerometer: AX: ", sensorObj.floatp_value(x), end=' ')
          print(" AY: ", sensorObj.floatp_value(y), end=' ')
          print(" AZ: ", sensorObj.floatp_value(z))
  
          sensor.getGyroscope(x, y, z)
          print("Gyroscope:     GX: ", sensorObj.floatp_value(x), end=' ')
          print(" GY: ", sensorObj.floatp_value(y), end=' ')
          print(" GZ: ", sensorObj.floatp_value(z))
  
          sensor.getMagnetometer(x, y, z)
          print("Magnetometer:  MX: ", sensorObj.floatp_value(x), end=' ')
          print(" MY: ", sensorObj.floatp_value(y), end=' ')
          print(" MZ: ", sensorObj.floatp_value(z))
  
          print("Temperature:  ", sensor.getTemperature())
          print()
  
          time.sleep(.5)
  
  if __name__ == '__main__':
      main()
  